Title:
POSITION CONTROL DEVICE AND METHOD
Document Type and Number:
WIPO Patent Application WO/2018/142868
Kind Code:
A1
Abstract:
Provided is a position control device that is capable of precisely controlling the position of an object to be controlled without needing a friction model for a rolling device. A position control device (5) according to the present invention is provided with: a position controller (31) that receives an input of a position command xref and outputs a speed command vref; a speed controller (33) that receives the inputted speed command vref and outputs a thrust command fref; a position deviation estimator (21) that calculates the friction force f(t) of a rolling device and equivalently converts the calculated friction force f(t) into a displacement dimensional amount (deviation d) on the basis of the generated thrust of a motor (4) and the acceleration/deceleration force of an inertial body of an object (25) to be controlled; and a correction unit (22) that corrects the position command xref on the basis of the displacement dimensional amount (deviation d).
Inventors:
OHASHI TOMOFUMI (JP)
SHIBATA HITOSHI (JP)
FUTAMI SHIGERU (JP)
SHIBATA HITOSHI (JP)
FUTAMI SHIGERU (JP)
Application Number:
PCT/JP2018/000462
Publication Date:
August 09, 2018
Filing Date:
January 11, 2018
Export Citation:
Assignee:
THK CO LTD (JP)
International Classes:
G05D3/12
Foreign References:
| JP2014109785A | 2014-06-12 | |||
| JP2010049599A | 2010-03-04 | |||
| JP5968572B1 | 2016-08-10 | |||
| JP2014013554A | 2014-01-23 | |||
| JP2000347743A | 2000-12-15 |
Attorney, Agent or Firm:
SHIOJIMA, Toshiyuki (JP)
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